基于声纳的移动机器人沿墙导航控制

Wall following Navigation Control for a Sonar-based Mobile Robot

  • 摘要: 针对移动机器人提出了一种沿墙导航控制算法.算法首先对室内环境中墙的形状进行分类,并针对每一类型的墙设计相应的控制策略.然后在移动机器人运动过程中,基于有限状态机实现移动机器人沿墙状态的转移,从而使移动机器人采用不同的控制策略控制其运动.文中利用Pioneer2DX移动机器人对此算法进行了实验研究,取得了理想的效果.

     

    Abstract: In this paper, an algorithm is proposed for mobile robot to follow walls. Firstly the wall shapes of the indoor environment are classified into different types for which wall-following strategies are designed respectively. When the mobile robot moves, the wall-following status changes, based on Finite State Machine(FSM), then the corresponding wall-following strategy is chosen to control the mobile robot. Experiments on the Pioneer 2DX mobile robot are conducted to evaluate the performance of the algorithm, and good results are obtained.

     

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